# Gazebo Math : Math classes and functions for robot applications

**Maintainer:** scpeters AT openrobotics DOT org

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Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math
classes and functions designed for robotic applications.

# Table of Contents

[Features](#features)

[Install](#install)

[Usage](#usage)

[Folder Structure](#folder-structure)

[Contributing](#contributing)

[Code of Conduct](#code-of-conduct)

[Versioning](#versioning)

[License](#license)

# Features

Gazebo Math provides a wide range of functionality, including:

* Type-templated pose, matrix, vector, and quaternion classes.
* Shape representations along with operators to compute volume, density, size and other properties.
* Classes for material properties, mass, inertial, temperature, [PID](https://en.wikipedia.org/wiki/PID_controller), kmeans, spherical coordinates, and filtering.
* Optional Eigen component that converts between a few Eigen and Gazebo
Math types.

# Install

See the [installation tutorial](https://gazebosim.org/api/math/8/install.html).

# Usage

Please refer to the [examples directory](https://github.com/gazebosim/gz-math/raw/gz-math9/examples/).

# Folder Structure

Refer to the following table for information about important directories and files in this repository.

```
gz-math
├── examples                 Example programs.
├── include/gz/math          Header files.
├── src                      Source files and unit tests.
│   └── graph                Source files for the graph classes.
│   └── python_pybind11      Pybind11 Python interfaces.
│   └── ruby                 SWIG Ruby interfaces.
├── eigen3                   Files for Eigen component.
├── test
│    ├── integration         Integration tests.
│    ├── performance         Performance tests.
│    └── regression          Regression tests.
├── tutorials                Tutorials, written in markdown.
├── Changelog.md             Changelog.
└── CMakeLists.txt           CMake build script.
```
# Contributing

Please see the
[contributing guide](https://gazebosim.org/docs/all/contributing).

# Code of Conduct

Please see
[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/gz-math9/CODE_OF_CONDUCT.md).

# Versioning

This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.

# License

This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-math/blob/gz-math9/LICENSE) file.
